Four motor direct driving system

ABSTRACT

A driving system for electric vehicles. The driving system may have two or more electric motors, each with voltage inputs, which are connected to the axles and tires of the vehicle. A variable input control may provide a signal that indicates its current operation position to a vehicle control unit. The vehicle control unit receives the information from the variable input control and determines how much power to send to each of the electric motors&#39; voltage inputs.

CROSS-REFERENCE TO RELATED APPLICATION

The present application is a continuation of U.S. Nonprovisionalapplication Ser. No. 14/923,432, filed Oct. 27, 2015, the disclosure ofwhich is hereby incorporated by reference in its entirety for allpurposes.

BACKGROUND

Electric vehicles are becoming an increasingly viable alternative totraditional vehicles with internal combustion engines. Electric vehicleshave the advantages of compactness, simplicity of design, and beingpotentially more environmentally friendly, depending on the method bywhich the electricity used in the electric vehicle was originallygenerated. The prospect of using renewable energy sources to powerautomobiles in place of gasoline has obvious advantages as oil reservesacross the globe become increasingly depleted.

Manufacturers of electric vehicles and/or hybrid vehicles generally takeone of two approaches in configuring an electric motor into a vehicle.The first approach is to place the electric motor in the vehicle ineither parallel with the internal combustion engine or in place of theinternal combustion engine, thus utilizing the existing structure of thetransmission system and gear box to deliver power to the axles andwheels. The second approach is to place the electric motor directly inthe internal cavity of the wheel. In-wheel motors have the advantage ofbeing highly simple and compact. The disadvantages of such a system arethat the extra weight placed within the wheel increases the unsprungmass of the vehicle which adversely affects the vehicle's ride andhandling.

SUMMARY

Exemplary embodiments of the present disclosure may address at leastsome of the above-noted problems. For example, some embodiments of thepresent disclosure overcome the limitations of current electric vehiclesby eliminating the need for either a transmission or gear box system. Inone aspect, the present disclosure relates to a driving system. Thedriving system may have two or more electric motors, each with voltageinputs, which are connected the axles and tires of the vehicle. Avariable input control may provide a signal that indicates currentoperational position to a vehicle control unit. The vehicle control unittakes the information from the variable input control and determines howmuch power to send to each the electric motors' voltage inputs.

In some examples, the driving system may comprise inverters thattransform a DC voltage into an AC voltage. Inverters may receive theoutput signals of the vehicle control and modify the voltage before itenters the electric motors. Encoders may be placed near or the electricmotors. Encoders record the mechanical outputs of the electric motorsand send information to the vehicle control unit. Examples of thevariable input control may include accelerator pedals, brake pedals, andsteering wheels.

In some examples, differential transmission can be facilitated by thevehicle control unit. For example, the vehicle control unit may beconfigured to distribute uneven voltages to different electric motors sothat tires connected to the electric motors may rotate at differentspeeds. The electric motors can be separate and distinct from theconnected wheels.

Additional features, advantages, and embodiments of the invention may beset forth or apparent from consideration of the following detaileddescription, drawings, and claims. Moreover, it is to be understood thatboth the foregoing summary of the invention and the following detaileddescription are exemplary and intended to provide further explanationwithout limiting the scope of the invention claimed. The detaileddescription and the specific examples, however, indicate only preferredembodiments of the invention. Various changes and modifications withinthe spirit and scope of the invention will become apparent to thoseskilled in the art from this detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are included to provide a furtherunderstanding of the invention, are incorporated in and constitute apart of this specification, illustrate embodiments of the invention andtogether with the detailed description serve to explain the principlesof the invention. No attempt is made to show structural details of theinvention in more detail than may be necessary for a fundamentalunderstanding of the invention and various ways in which it may bepracticed. In the drawings:

FIG. 1 shows a system diagram of an exemplary embodiment of a drivingsystem.

FIG. 2 shows a system diagram of an exemplary embodiment of a vehiclecontrol unit.

FIG. 3 shows a system diagram of an exemplary embodiment of a drivingsystem with encoders.

FIG. 4 shows a system diagram of an exemplary embodiment of a vehiclecontrol unit with encoders.

FIG. 5 shows a top view of the four motor direct driving system,according to an exemplary embodiment of the present disclosure.

FIG. 6 shows a rear view of the four motor direct driving system,according to an exemplary embodiment of the present disclosure.

FIG. 7 shows a rear view of the four motor direct driving system thatutilizes constant-velocity joints, according to an exemplary embodimentof the present disclosure.

FIG. 8 shows a rear view of the four motor direct driving system thatutilizes a pivot system.

FIG. 9 shows a system diagram of the four motor direct driving systemthat demonstrates how the various components interact.

FIG. 10 shows a flow diagram of a method of driving a vehicle accordingto an exemplary embodiment of the present disclosure.

FIG. 11 shows a simplified computer system that may be utilized toperform one or more of the operations discussed.

In the appended figures, similar components and/or features may have thesame numerical reference label. Further, various components of the sametype may be distinguished by following the reference label by a letterthat distinguishes among the similar components and/or features. If onlythe first numerical reference label is used in the specification, thedescription is applicable to any one of the similar components and/orfeatures having the same first numerical reference label irrespective ofthe letter suffix.

DETAILED DESCRIPTION

Various example embodiments of the present disclosure will be describedbelow with reference to the drawings constituting a part of thedescription. It should be understood that, although terms representingdirections are used in the present disclosure, such as “front”, “rear”,“upper”, “lower”, “left”, “right”, and the like, for describing variousexemplary structural parts and elements of the present disclosure, theseterms are used herein only for the purpose of convenience of explanationand are determined based on the exemplary orientations shown in thedrawings. Since the embodiments disclosed by the present disclosure canbe arranged according to different directions, these terms representingdirections are merely used for illustration and should not be regardedas limiting. Wherever possible, the same or similar reference marks usedin the present disclosure refer to the same components.

Unless defined otherwise, all technical terms used herein have the samemeanings as commonly understood by one of ordinary skill in the art towhich the invention pertains. The embodiments of the invention and thevarious features and advantageous details thereof are explained morefully with reference to the non-limiting embodiments and examples thatare described and/or illustrated in the accompanying drawings anddetailed in the following description. It should be noted that thefeatures illustrated in the drawings are not necessarily drawn to scale,and features of one embodiment may be employed with other embodiments asthe skilled artisan would recognize, even if not explicitly statedherein. Descriptions of well-known components and processing techniquesmay be omitted so as to not unnecessarily obscure the embodiments of theinvention. The examples used herein are intended merely to facilitate anunderstanding of ways in which the invention may be practiced and tofurther enable those of skill in the art to practice the embodiments ofthe invention. Accordingly, the examples and embodiments herein shouldnot be construed as limiting the scope of the invention, which isdefined solely by the appended claims and applicable law. Moreover, itis noted that like reference numerals reference similar parts throughoutthe several views of the drawings.

Some embodiments of the present disclosure comprise a vehicle drivingsystem consisting of electric motors attached directly to a vehicle'swheels through independent axles. Embodiments of the present inventionovercome the limitations of current electric vehicles by eliminating theneed for a transmission/gear box system. Embodiments of the presentinvention further overcome limitations of current electric vehicles bynot using in-wheel electric motors. By configuring the electric motorsaway from the wheel hubs, the unsprung mass of the vehicle is reducedwhich improves the vehicle's ride and handling. The power delivered toeach electric motor is determined by the vehicle control unit, whichanalyses information gathered from the accelerator pedal, brake pedal,steering wheel, and encoders, and distributes power.

FIG. 1 shows a driving system 100, which is an exemplary embodiment ofthe present disclosure. In driving system 100, variable input control105 provides information to vehicle control unit 110 about itsoperational position. In some embodiments, variable input control 105may be an accelerator pedal, a brake pedal, or a steering wheel. In someembodiments, the operational position of variable input control 105 isits current status. For example, the operational position of the brakepedal may be “50% pressed” or “100% pressed”. Additionally, theoperational position of the steering wheel may be “0 degrees turned”,“positive 15 degrees turned”, or “negative 15 degrees turned”.

Vehicle control unit 110 takes the information about the operationalposition of variable input control 105 and makes a determination as tohow much power/voltage to distribute to electric motors 120, fromelectric motor 1 up to electric motor N, where N is the total number ofelectric motors. The N electric motors 120 subsequently providerotational power to axles 130, from axle 1 up to axle N, which thenrotate wheels 140, from wheel 1 up to wheel N. The number of electricmotors, axles, and wheels (N) may be as small as 1, and does not have anupper-bound limit.

In some embodiments, vehicle control unit 110 makes the determination asto how much power to distribute to electric motors 120 solely based onthe information given by variable input control 105. For example, insome embodiments, vehicle control unit 110 may receive a signal fromvariable input control 105 that the accelerator is “100% pressed” anddetermine that maximum power/voltage should be allotted to electricmotors 120 equally. As another example, vehicle control unit 110 mayreceive a signal from variable input control 105 that the brake pedal is“100% pressed” and determine that zero power/voltage should be sent toelectric motors 120.

In some embodiments, vehicle control unit 110 may be configured tofacilitate uneven distribution of power to different motors. This mayachieve something similar to the electrical equivalent of a mechanicalautomobile differential, allowing different wheels to rotate atdifferent speeds during turns. For example, where a vehicle has fourwheels (N=4), during a right or left turn, all four wheels willgenerally be traveling at a different speed. Inside turning wheels(those on the same side of the vehicle as the direction the vehicle isturning) travel at a slower speed than outside turning wheels (those onthe opposite side of the vehicle as the direction the vehicle isturning) because of the smaller distance they need to travel. Similarly,rear wheels travel at a slower speed than front wheels that are situatedon the same side of the car.

In some embodiments, vehicle control unit 110 can be configured toperform calculations based on the steering angle, the signal from theaccelerator pedal, and the width of the vehicle to distribute power inan efficient manner amongst electric motors 120. In some embodiments,vehicle control unit 110 may have the processing means to compute thepower levels needed for each electric motor using the theoreticalformula for wheel speed. In some embodiments, vehicle control unit 110may use a lookup table to determine the required power levels where thevehicle width and other parameters are known. The lookup table may betwo-dimensional, with the first input variable being the signal from theaccelerator pedal and the second input variable being the currentsteering angle. In some embodiments, the lookup table may beone-dimensional and the signal from the accelerator pedal may beignored. For example, the lookup table may have a single input variablebeing the current steering angle. The values of the lookup table may beratios between the amounts of power to be distributed between differentelectric motors. The power levels distributed to each electric motor maybe a ratio multiplied by the maximum power available or by some totalpower output.

In some embodiments, the number of electric motors, axles, and wheelsmay be equal to two (N=2). For example, the system of FIG. 1 may beimplemented in scooters, electric bicycles, and other two-wheeledvehicles. In some embodiments, variable input control 105 for a scootermay be a handle accelerator, which may contain a position sensor or anangle sensor that gives information to vehicle control unit 110regarding the desired speed. Variable input control 105 may also be afootbrake, handle brake, or a steering angle. Vehicle control unit 110may also gather information about the leaning angle of the scooter withrespect to the vertical axis. For a scooter and other two-wheeledvehicles, the determination of how much power to distribute to thedifferent electric motors is generally a simpler calculation than thefour wheel implementation. Where a scooter is leaning significantly intoa turn, there may be very little variation between the speeds of thefront wheel and the back wheel, and therefore vehicle control unit 110may distribute essentially identical amounts of power to both wheels.Where a scooter is turning and the leaning angle is small, i.e., thescooter is not leaning significantly into the turn, the variationbetween the speeds of the front wheel and the back wheel may be moresignificant, and may lend to similar calculations that are made with afour motor implementation.

In some embodiments, the system of FIG. 1 may be implemented intwo-wheeled vehicles such as a Segway™, where the wheels are arranged ina side-to-side configuration rather than a front and back configuration.Variable input control 105 may be the weight placement of the user andwhether the user is leaning in a certain direction. Variable inputcontrol 105 may also be a steering control on a handle bar or on ahandheld control device. In some embodiments, vehicle control unit 110may distribute power amongst the two wheels in a way that forces thevehicle to turn, rather than just accommodate the vehicle to turn whichmay be done in the four motor design. For example, because a two-wheeledvehicle with a side-to-side wheel configuration generally doesn't allowthe wheels themselves to be angled with respect to the vehicle chassis,and that user leaning has little effect on naturally steering thevehicle, the only way to implement a turn is forcing one the wheels torotate faster than the other wheel. Vehicle control unit 110 may firstdetermine the angle that the user desires to turn given the signalsreceived from variable input control 105. Second, vehicle control unit110 may distribute power disproportionately between the left motor andthe right motor. When the user indicates (through variable input control105) that the desired steering angle is zero, vehicle control unit 110may equalize the powers being distributed to each motor. The equalizedpower may be set to the average of the powers that were beingdistributed during the turn, the root-mean-square value of the powersthat were being distributed during the turn, or some other calculation.

In some embodiments, the number of electric motors, axles, and wheelsmay be equal to a number much greater than four (N>>4). For example,buses, semi-trucks, and trains may implement the system of FIG. 1. Fortrains, vehicle control unit 110 may distribute power to motors on thesame side of the train in equal amounts, even on turns. Unlikefour-wheeled cars, vehicles that travel on tracks have less variationbetween the speeds of wheels on the same side due to the inability forrear wheels to take turns more sharply than front wheels. Thus, in someembodiments, vehicle control unit 110 may calculate the distributedpower to be the same among motors on the same side of the train.

FIG. 2 shows an exemplary embodiment of a vehicle control unit 200. Insome embodiments, vehicle control unit 200 comprises three maincomponents. First, an operational position determination component 220receives a signal 210 from the variable input control. Second, a poweroutput determination component 230 makes a determination as to how muchpower to distribute to each electric motor. Third, a power distributioncomponent 240 provides the means to transfer power signals 250 to theelectric motors. In some embodiments, power signals 250 are sent toinverters prior to the electric motors if the electric motors require anAC electrical voltage rather than a DC electrical voltage. In someembodiments, power distribution component 240 provides power signals 250in AC electrical voltage form, removing the need for inverters. In someembodiments, a vehicle battery may be located within power distributioncomponent 240. In other embodiments, the battery may be located outsidevehicle control unit 200, alongside each electric motor, or in a remotelocation in the vehicle.

In some embodiments, operational position determination component 220receives signal 210 from the variable input control in terms of avoltage, either received wirelessly or through a wired connection. Insome embodiments, signal 210 may be compared to a reference signal todetermine the operational position of the variable input control. Forexample, assuming the reference signal of 1 volt corresponds to theaccelerator pedal being “100% pressed”, if signal 210 is received at0.75 volts, operational position determination component 220 maydetermine that the operational position of the variable input control is“75% pressed”. As another example, assuming the reference signal of 5volts corresponds to the steering wheel being turned 180 degrees to theright, if signal 210 is received at 2.5 volts, operational positiondetermination component 220 may determine that the operational positionof the variable input control is that the steering wheel is turned 90degrees to the right. It should be noted that the mapping of signal 210into an operational position need not be linear as the previous exampleshave shown. For example, a signal 210 of 1 volt may correspond to thebrake pedal being “10% pressed” and a signal 210 of 2 volts maycorrespond to the brake pedal being “50% pressed”. Operational positiondetermination component 220 may use a lookup table to perform themapping, or it may use a formulaic approach. For example, theoperational position may be determined using an equation similar to thefollowing: operational position=2×(signal 210−3 volts).

In some embodiments, operational position determination component 420may, instead of solely receiving a signal magnitude, receive a desiredvehicle speed or a desired turning angle from the variable inputcontrol. For example, a user may specify through a keypad or otherinterface that the desired vehicle speed is 30 mph. In some embodiments,operational position determination component 420 may receive signal 410that is then determined to correspond to 30 mph either using a lookuptable or using a formulaic approach.

FIG. 3 shows an exemplary embodiment of a driving system 300. Drivingsystem 300 comprises variable input control 305, vehicle control unit310, electric motors 320, axles 330, wheels 340, and encoders 350. Insome embodiments, encoders 350 are placed near electric motors 320 torecord their mechanical output. Encoders 350 may be placed as sensorsinside electric motors 320, on the surface of electric motors 320, or atsome other location near axles 330 or wheels 340. In some embodiments,encoders 350 detect the rotational speeds of electric motors 320.Rotational speed may also be detected on axles 330 or wheels 340, andshould yield the same value at either location as angular velocity isnot a function of the radius of the rotating object. In someembodiments, encoders 350 may detect the tangential speeds of wheels340. This could either be done by detecting the speed of the outside ofthe wheels or by detecting rotational speed and computing tangentialspeed using the wheel's radius. The information gathered by encoders 350may then be transmitted, either wirelessly or through a wiredconnection, to vehicle control unit 310.

FIG. 4 shows an exemplary embodiment of a vehicle control unit 400.Vehicle control unit 400 comprises operational position determinationcomponent 420 which receives a signal 410 from the variable inputcontrol, power output determination component 430, and powerdistribution component 440 which provides the means to transfer powersignals 450 to the electric motors. In some embodiments, vehicle controlunit 400 receives feedback signals 460 from various encoders whichdetect the mechanical output of the electric motors. Power outputdetermination component 430 may use feedback signals 460 to errorcorrect if certain electric motors are not performing in an expectedway.

Additionally, feedback signals 460 permit power output determinationcomponent 430 to accurately maintain a desired vehicle speed. Forexample, as discussed earlier, in some embodiments the variable inputcontrol may provide vehicle control unit 400 with a desired vehiclespeed, e.g., 30 mph. Power output determination component 430 may, as afirst iteration, determine power levels to drive the vehicle at a speedof approximately 30 mph using the specification sheets from themanufacturers of the electric motors. Feedback signals 460 from theencoders will then allow power output determination component 430 toadjust power signals 450 if there is a difference between the desiredvehicle speed and the actual vehicle speed, i.e., an error. For example,if feedback signals 460 report that the actual vehicle speed is greaterthan the desired vehicle speed, power output determination component 430may lower power signals 450 accordingly. Conversely, if feedback signals460 report that the actual vehicle speed is less than the desiredvehicle speed, power output determination component 430 may increasepower signals 450 accordingly.

Another example of a computation vehicle control unit 400 might performis varying the voltage levels delivered to different electric motorsbased on whether the vehicle is turning. If a sharp right turn is beingperformed, vehicle control unit 400 may modify power signals 450 todeliver twice as much power to left-side electric motors than isdelivered to right-side electric motors to compensate for the increaseddistance left-side wheels must travel compared to right-side wheels.Another example of a computation vehicle control unit 400 might performis to decrease the power/voltage levels delivered to the electric motorswhen the brake pedal is pressed by the user. Depending on how much thebrake pedal is pressed, it may be more efficient for the vehicle tobypass the braking system and instead only decrease power signals 450which are delivered to the electric motors.

FIG. 5 shows a top view of a four motor direct driving system accordingto an exemplary embodiment of the present disclosure. In someembodiments, the four electric motors are placed within the vehiclechassis and away from the wheels. Front-left motor 512 may be positionedin the forward and left portion of the vehicle and connected tofront-left wheel 516 by means of front-left axle 514. Similarly,front-right motor 522 may be positioned in the forward and right portionof the vehicle and connected to front-right wheel 526 by means offront-right axle 524. Because front-left axle 514 and front-right axle524 are unattached and independent from each other, the electric motorsdriving them may also operate independently and at different angularvelocities. Rear-left motor 532 and rear-right motor 542 operatesimilarly to the front motors.

In some embodiments, encoder 518 may be connected to front-left motor512 and encoder 528 to front-right motor 522. Encoders 518 and 528report mechanical outputs to vehicle control unit 500, which controlsthe voltage inputs of the electric motors. As discussed previously, insome embodiments vehicle control unit 500 makes the determination as tohow much power to distribute to different electric motors based oninformation from the encoders, the encoders thus behaving as feedbackloops. For example, in a scenario where the vehicle is running on anuneven surface, if vehicle control unit 500 is delivering 10 volts toboth front-left motor 512 and front-right motor 522, and encoders 518and 528 are reporting that front-right motor 522 is rotating more slowlythan front-left motor 512, then vehicle control unit 500 may increasethe voltage delivered to front-right motor 522 to compensate for thisdifference to stabilize the vehicle.

In some embodiments, before electrical power is delivered to theelectric motors, it is first passed through a series of inverters.Inverters generally transform a DC electrical signal into an ACelectrical signal. Depending on the type of electric motors used, theinverters may or may not be necessary. For example, a DC brushed motorwould not require an inverter to operate as it functions with DCelectricity. On the other hand, induction motors require an AC signaland thus inverters would be needed. AC and DC electric motors havespeed/torque tradeoffs that will influence the decision as to which onemay be more appropriate for the type of vehicle that is employing thedesign. The optional nature of the inverters are denoted in FIG. 5 withdashed lines. Inverter 510 receives a voltage signal from vehiclecontrol unit 500 and outputs it to front-left motor 512. Similarly,inverter 520 receives a voltage signal and outputs it to front-rightmotor 522.

FIG. 6 shows a rear view of an exemplary embodiment of the presentdisclosure in which rear-left motor 632 and rear-right motor 642 aresecured to the chassis of a vehicle. In this embodiment, the rear motorsare positioned horizontally in line with rear-left wheel 636, rear-leftaxle 634, rear-right axle 644, and rear-right wheel 646.

FIG. 7 shows a rear view of an exemplary embodiment of the presentdisclosure in which rear-left motor 732 is secured to the chassis of avehicle and constant-velocity joints 733 are positioned to allowrear-left axle 737 to properly rotate rear-right wheel 736. FIG. 7demonstrates how a four motor direct driving system can be employed inconjunction with a suspension system. Shock absorber 737 is secured onone end to the chassis of the vehicle and on the other end to rear-leftaxle 734. In some embodiments, constant-velocity joints enable theelectric motors to deliver rotational power to the wheels with littleloss due to friction and heat. In this manner, the electric motorsremain secured to the chassis of the vehicle and do not become part ofthe unsprung mass.

FIG. 8 shows a rear view of an exemplary embodiment of the presentdisclosure in which a pivot system is employed in conjunction with asuspension system. In some embodiments, rear-left motor 832 is linearlyconnected with rear-left axle 834 and rear-left wheel 836, and rear-leftaxle 834 is secured to shock absorber 837 and is able to pivot on pivot835. Such a system permits high power transfer between the motors andthe wheels with little friction losses that arise from constant-velocityjoints. Disadvantages of the pivot system are the additional amount ofunsprung mass and the decreased compactness of the design.

FIG. 9 is an exemplary embodiment of a system diagram of variouscomponents in a driving system in accordance with one embodiment of thedisclosure. In this example, vehicle control unit 925 receives signalsfrom accelerator pedal 900 via pedal position sensor 915, from brakepedal 905 via pedal position sensor 920, and from steering wheel 910 viasteering angle sensor 925. Vehicle control unit 925 also receivessignals from the four encoders 950 which give information about themechanical outputs of the four electric motors 940. Vehicle control unit925 processes the information derived from the sensors and encoders 950and makes a determination as to how much voltage needs to be distributedto the four inverters 930. If DC motors are being employed, then thevoltage is sent directly to the electric motors 940. The four electricmotors 940 each provide rotational power to each of their respectiveaxles 960 which are connected to wheels 970.

FIG. 10 illustrates an embodiment of a method 1000 for driving avehicle. Method 1000 may be performed using any of the systems orcomponents previously described. In some embodiments, the method mayinclude a vehicle control unit receiving information from a variableinput control and N encoders at operation 1010. The vehicle control unitneed not receive information from both the variable input control andthe N encoders. It may receive information from the variable inputcontrol alone, from only the N encoders, or from a number of encodersless than N. The method may also include the vehicle control unitdetermining N voltage outputs at operation 1020, and distributing the Nvoltage outputs to N electric motors at operation 1030. The method mayalso include the optional step of N inverters modifying the N voltageoutputs at operation 1040, prior to passing the signals to the Nelectric motors. The method may also include N electric motors receivingthe N voltage outputs and delivering rotational power to N axles and Nwheels at operation 1050.

FIG. 11 illustrates an embodiment of a computer system 1100. A computersystem 1100 as illustrated in FIG. 11 may be incorporated into devicessuch as a portable electronic device, mobile phone, or other device asdescribed herein. FIG. 11 provides a schematic illustration of oneembodiment of a computer system 1100 that can perform some or all of thesteps of the methods provided by various embodiments. It should be notedthat FIG. 11 is meant only to provide a generalized illustration ofvarious components, any or all of which may be utilized as appropriate.FIG. 11, therefore, broadly illustrates how individual system elementsmay be implemented in a relatively separated or relatively moreintegrated manner.

The computer system 1100 is shown comprising hardware elements that canbe electrically coupled via a bus 1105, or may otherwise be incommunication, as appropriate. The hardware elements may include one ormore processors 1110, including without limitation one or moregeneral-purpose processors and/or one or more special-purpose processorssuch as digital signal processing chips, graphics accelerationprocessors, and/or the like; one or more input devices 1115, which caninclude without limitation a mouse, a keyboard, a camera, and/or thelike; and one or more output devices 1120, which can include withoutlimitation a display device, a printer, and/or the like.

The computer system 1100 may further include and/or be in communicationwith one or more non-transitory storage devices 1125, which cancomprise, without limitation, local and/or network accessible storage,and/or can include, without limitation, a disk drive, a drive array, anoptical storage device, a solid-state storage device, such as a randomaccess memory (“RAM”), and/or a read-only memory (“ROM”), which can beprogrammable, flash-updateable, and/or the like. Such storage devicesmay be configured to implement any appropriate data stores, includingwithout limitation, various file systems, database structures, and/orthe like.

The computer system 1100 might also include a communications subsystem1130, which can include without limitation a modem, a network card(wireless or wired), an infrared communication device, a wirelesscommunication device, and/or a chipset such as a Bluetooth™ device, an802.11 device, a WiFi device, a WiMax device, cellular communicationfacilities, etc., and/or the like. The communications subsystem 1130 mayinclude one or more input and/or output communication interfaces topermit data to be exchanged with a network such as the network describedbelow to name one example, other computer systems, television, and/orany other devices described herein. Depending on the desiredfunctionality and/or other implementation concerns, a portableelectronic device or similar device may communicate image and/or otherinformation via the communications subsystem 1130. In other embodiments,a portable electronic device, e.g. the first electronic device, may beincorporated into the computer system 1100, e.g., an electronic deviceas an input device 1115. In some embodiments, the computer system 1100will further comprise a working memory 1135, which can include a RAM orROM device, as described above.

The computer system 1100 also can include software elements, shown asbeing currently located within the working memory 1135, including anoperating system 1140, device drivers, executable libraries, and/orother code, such as one or more application programs 1145, which maycomprise computer programs provided by various embodiments, and/or maybe designed to implement methods, and/or configure systems, provided byother embodiments, as described herein. Merely by way of example, one ormore procedures described with respect to the methods discussed above,such as those described in relation to FIG. 10, might be implemented ascode and/or instructions executable by a computer and/or a processorwithin a computer; in an aspect, then, such code and/or instructions canbe used to configure and/or adapt a general purpose computer or otherdevice to perform one or more operations in accordance with thedescribed methods.

A set of these instructions and/or code might be stored on anon-transitory computer-readable storage medium, such as the storagedevice(s) 1125 described above. In some cases, the storage medium mightbe incorporated within a computer system, such as computer system 1100.In other embodiments, the storage medium might be separate from acomputer system e.g., a removable medium, such as a compact disc, and/orprovided in an installation package, such that the storage medium can beused to program, configure, and/or adapt a general purpose computer withthe instructions/code stored thereon. These instructions might take theform of executable code, which is executable by the computer system 1100and/or might take the form of source and/or installable code, which,upon compilation and/or installation on the computer system 1100 e.g.,using any of a variety of generally available compilers, installationprograms, compression/decompression utilities, etc., then takes the formof executable code.

It will be apparent to those skilled in the art that substantialvariations may be made in accordance with specific requirements. Forexample, customized hardware might also be used, and/or particularelements might be implemented in hardware, software including portablesoftware, such as applets, etc., or both. Further, connection to othercomputing devices such as network input/output devices may be employed.

As mentioned above, in one aspect, some embodiments may employ acomputer system such as the computer system 1100 to perform methods inaccordance with various embodiments of the technology. According to aset of embodiments, some or all of the procedures of such methods areperformed by the computer system 1100 in response to processor 1110executing one or more sequences of one or more instructions, which mightbe incorporated into the operating system 1140 and/or other code, suchas an application program 1145, contained in the working memory 1135.Such instructions may be read into the working memory 1135 from anothercomputer-readable medium, such as one or more of the storage device(s)1125. Merely by way of example, execution of the sequences ofinstructions contained in the working memory 1135 might cause theprocessor(s) 1110 to perform one or more procedures of the methodsdescribed herein. Additionally or alternatively, portions of the methodsdescribed herein may be executed through specialized hardware.

The terms “machine-readable medium” and “computer-readable medium,” asused herein, refer to any medium that participates in providing datathat causes a machine to operate in a specific fashion. In an embodimentimplemented using the computer system 1100, various computer-readablemedia might be involved in providing instructions/code to processor(s)1110 for execution and/or might be used to store and/or carry suchinstructions/code. In many implementations, a computer-readable mediumis a physical and/or tangible storage medium. Such a medium may take theform of a non-volatile media or volatile media. Non-volatile mediainclude, for example, optical and/or magnetic disks, such as the storagedevice(s) 1125. Volatile media include, without limitation, dynamicmemory, such as the working memory 1135.

Common forms of physical and/or tangible computer-readable mediainclude, for example, a floppy disk, a flexible disk, hard disk,magnetic tape, or any other magnetic medium, a CD-ROM, any other opticalmedium, punchcards, papertape, any other physical medium with patternsof holes, a RAM, a PROM, EPROM, a FLASH-EPROM, any other memory chip orcartridge, or any other medium from which a computer can readinstructions and/or code.

Various forms of computer-readable media may be involved in carrying oneor more sequences of one or more instructions to the processor(s) 1110for execution. Merely by way of example, the instructions may initiallybe carried on a magnetic disk and/or optical disc of a remote computer.A remote computer might load the instructions into its dynamic memoryand send the instructions as signals over a transmission medium to bereceived and/or executed by the computer system 1100.

The communications subsystem 1130 and/or components thereof generallywill receive signals, and the bus 1105 then might carry the signalsand/or the data, instructions, etc. carried by the signals to theworking memory 1135, from which the processor(s) 1110 retrieves andexecutes the instructions. The instructions received by the workingmemory 1135 may optionally be stored on a non-transitory storage device1125 either before or after execution by the processor(s) 1110.

The methods, systems, and devices discussed above are examples. Variousconfigurations may omit, substitute, or add various procedures orcomponents as appropriate. For instance, in alternative configurations,the methods may be performed in an order different from that described,and/or various stages may be added, omitted, and/or combined. Also,features described with respect to certain configurations may becombined in various other configurations. Different aspects and elementsof the configurations may be combined in a similar manner. Also,technology evolves and, thus, many of the elements are examples and donot limit the scope of the disclosure or claims.

Specific details are given in the description to provide a thoroughunderstanding of exemplary configurations including implementations.However, configurations may be practiced without these specific details.For example, well-known circuits, processes, algorithms, structures, andtechniques have been shown without unnecessary detail in order to avoidobscuring the configurations. This description provides exampleconfigurations only, and does not limit the scope, applicability, orconfigurations of the claims. Rather, the preceding description of theconfigurations will provide those skilled in the art with an enablingdescription for implementing described techniques. Various changes maybe made in the function and arrangement of elements without departingfrom the spirit or scope of the disclosure.

Also, configurations may be described as a process which is depicted asa flow diagram or block diagram. Although each may describe theoperations as a sequential process, many of the operations can beperformed in parallel or concurrently. In addition, the order of theoperations may be rearranged. A process may have additional steps notincluded in the figure. Furthermore, examples of the methods may beimplemented by hardware, software, firmware, middleware, microcode,hardware description languages, or any combination thereof. Whenimplemented in software, firmware, middleware, or microcode, the programcode or code segments to perform the necessary tasks may be stored in anon-transitory computer-readable medium such as a storage medium.Processors may perform the described tasks.

Having described several example configurations, various modifications,alternative constructions, and equivalents may be used without departingfrom the spirit of the disclosure. For example, the above elements maybe components of a larger system, wherein other rules may takeprecedence over or otherwise modify the application of the technology.Also, a number of steps may be undertaken before, during, or after theabove elements are considered. Accordingly, the above description doesnot bind the scope of the claims.

As used herein and in the appended claims, the singular forms “a”, “an”,and “the” include plural references unless the context clearly dictatesotherwise. Thus, for example, reference to “a user” includes a pluralityof such users, and reference to “the processor” includes reference toone or more processors and equivalents thereof known to those skilled inthe art, and so forth.

Also, the words “comprise”, “comprising”, “contains”, “containing”,“include”, “including”, and “includes”, when used in this specificationand in the following claims, are intended to specify the presence ofstated features, integers, components, or steps, but they do notpreclude the presence or addition of one or more other features,integers, components, steps, acts, or groups.

What is claimed is:
 1. A vehicle driving system for an electric vehicle,the vehicle driving system comprising: a steering wheel with acorresponding steering angle; four electric motors, wherein each of thefour electric motors has a voltage input; four wheels, each of the fourwheels connected to one of the four electric motors by an axle; and avehicle control unit configured to control the voltage inputs of thefour electric motors, wherein the vehicle control unit is furtherconfigured to: receive information indicating the steering angle;determine the voltage inputs for the four electric motors based on thereceived information such that, when the electric vehicle is turning: afirst voltage input is determined for a first electric motor coupledwith a front inside turning wheel; a second voltage input is determinedfor a second electric motor coupled with a front outside turning wheel;a third voltage input is determined for a third electric motor coupledwith a rear inside turning wheel; a fourth voltage input is determinedfor a fourth electric motor coupled with a rear outside turning wheel;wherein each of the first voltage input, the second voltage input, thethird voltage input, and the fourth voltage input are different fromeach other; and wherein the first voltage input is less than the secondvoltage input, the third voltage input is less than the fourth voltageinput, the third voltage input is less than the first voltage input, andthe fourth voltage input is less than the second voltage input; andgenerate instructions to effectuate the voltage inputs to the fourelectric motors.
 2. The system of claim 1, further comprising: fourelectric power inverting devices that invert voltage, wherein each ofthe four electric power inverting devices are configured to receive aninput from the vehicle control unit and output a voltage to one of thefour electric motors.
 3. The system of claim 2, further comprising: fourencoders, wherein each of the four encoders are configured to record amechanical output from one of the four electric motors.
 4. The system ofclaim 3, wherein each of the four encoders contain an output that feedsback to the vehicle control unit.
 5. The system of claim 1, furthercomprising: an accelerator pedal with a corresponding accelerator pedalposition; and a brake pedal with a corresponding brake pedal position.6. The system of claim 3, wherein the received information furtherindicates the mechanical output.
 7. The system of claim 6, wherein thevehicle control unit is configured to determine the voltage inputs ofthe four electric motors based on each of the steering angle and themechanical output.
 8. The system of claim 6, wherein the mechanicaloutput recorded by the four encoders from the four electric motors isthe rotational speed of each motor.
 9. The system of claim 6, whereinthe mechanical output recorded by the four encoders from the fourelectric motors is the tangential speed of each wheel.
 10. The system ofclaim 1, wherein each of the four wheels are connected to one of thefour electric motors without the use of transmission gears.
 11. Thesystem of claim 1, wherein each of the four electric motors are separateand distinct from each of the four wheels.
 12. A vehicle driving systemfor an electric vehicle, the vehicle driving system comprising: anaccelerator pedal with a corresponding accelerator pedal position; abrake pedal with a corresponding brake pedal position; a steering wheelwith a corresponding steering angle; four electric motors, wherein eachof the four electric motors has a voltage input; four wheels, whereineach of the four wheels are connected to one of the four electric motorsby an axle; a vehicle control unit configured to control the voltageinputs of the four electric motors, wherein the vehicle control unit isfurther configured to: receive information indicating the acceleratorpedal position, the brake pedal position, and the steering angle;determine the voltage inputs for the four electric motors based on thereceived information such that, when the electric vehicle is turning: afirst voltage input is determined for a first electric motor coupledwith a front inside turning wheel; a second voltage input is determinedfor a second electric motor coupled with a front outside turning wheel;a third voltage input is determined for a third electric motor coupledwith a rear inside turning wheel; a fourth voltage input is determinedfor a fourth electric motor coupled with a rear outside turning wheel;wherein each of the first voltage input, the second voltage input, thethird voltage input, and the fourth voltage input are different fromeach other; and wherein the first voltage input is less than the secondvoltage input, the third voltage input is less than the fourth voltageinput, the third voltage input is less than the first voltage input, andthe fourth voltage input is less than the second voltage input; andgenerate instructions to effectuate the voltage inputs to the fourelectric motors; four electric power inverting devices that invertvoltage, wherein each of the four electric power inverting devices areconfigured to receive an input from the vehicle control unit and outputa voltage to one of the four electric motors; four encoders, whereineach of the four encoders are configured to record a mechanical outputfrom one of the four electric motors; wherein the mechanical outputrecorded by the four encoders from the four electric motors is therotational speed of each motor; and wherein each of the four electricmotors are separate and distinct from each of the four wheels.
 13. Amethod for driving an electric vehicle, the method comprising: receivinginformation at a vehicle control unit, wherein the received informationindicates a steering angle corresponding to a steering wheel;determining four voltage outputs at the vehicle control unit based onthe received information such that, when the electric vehicle isturning: a first voltage output is determined for coupling with a firstelectric motor connected to a front inside turning wheel; a secondvoltage output is determined for coupling with a second electric motorconnected to a front outside turning wheel; a third voltage output isdetermined for coupling with a third electric motor connected to a rearinside turning wheel; a fourth voltage output is determined for couplingwith a fourth electric motor connected to a rear outside turning wheel;wherein each of the first voltage output, the second voltage output, thethird voltage output, and the fourth voltage output are different fromeach other; and wherein the first voltage output is less than the secondvoltage output, the third voltage output is less than the fourth voltageoutput, the third voltage output is less than the first voltage output,and the fourth voltage output is less than the second voltage output;and outputting the first voltage output, the second voltage output, thethird voltage output, and the fourth voltage output at the vehiclecontrol unit, thereby causing movement of the electric vehicle.
 14. Themethod of claim 13, further comprising: passing the first voltage outputthrough a first electric power inverting device; passing the secondvoltage output through a second electric power inverting device; passingthe third voltage output through a third electric power invertingdevice; and passing the fourth voltage output through a fourth electricpower inverting device.
 15. The method of claim 14, further comprising:receiving a first signal at the vehicle control unit from a firstencoder; receiving a second signal at the vehicle control unit from asecond encoder; receiving a third signal at the vehicle control unitfrom a third encoder; receiving a fourth signal at the vehicle controlunit from a fourth encoder; and wherein the signals from the first,second, third, and fourth encoders correspond to mechanical outputs fromthe first, second, third, and fourth electric motors, respectively. 16.The method of claim 15, wherein the received information furtherindicates the first signal, the second signal, the third signal, and thefourth signal.